Image obtaining method and apparatus

ABSTRACT

A method of obtaining an image from an image sensor provided in a vehicle includes obtaining a vehicle speed of the vehicle; adjusting a shutter speed of the image sensor; adjusting either one or both of an international organization for standardization sensitivity (ISO) of the image sensor and an aperture of the image sensor based on the vehicle speed; and obtaining the image from the image sensor based on the adjusted shutter speed and the adjusted either one or both of the ISO and the aperture.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit under 35 USC § 119(a) of KoreanPatent Application No. 10-2017-0097068 filed on Jul. 31, 2017 in theKorean Intellectual Property Office, the entire disclosure of which isincorporated herein by reference for all purposes.

BACKGROUND 1. Field

The following description relates to an image obtaining method and animage obtaining apparatus.

2. Description of Related Art

Recently, various cutting-edge technologies have been applied tovehicles in order to improve convenience for drivers and vehicle safetydue to development of the automobile industry. In particular, the numberof technologies using images of an environment around a vehiclephotographed by a camera provided in the vehicle has been rapidlyincreasing. To use such cutting-edge technology in a vehicle travelingat a relatively high velocity in various environments and conditionssuch as darkness, snow, and rain, high-quality images may be needed.

SUMMARY

This Summary is provided to introduce a selection of concepts in asimplified form that are further described below in the DetailedDescription. This Summary is not intended to identify key features oressential features of the claimed subject matter, nor is it intended tobe used as an aid in determining the scope of the claimed subjectmatter.

In one general aspect, there is provided method of obtaining an imagefrom an image sensor provided in a vehicle, the method including:obtaining a vehicle speed of the vehicle; adjusting a shutter speed ofthe image sensor; adjusting either one or both of an internationalorganization for standardization sensitivity (ISO) of the image sensorand an aperture of the image sensor based on the vehicle speed; andobtaining the image from the image sensor based on the adjusted shutterspeed and the adjusted either one or both of the ISO and the aperture.

The adjusting of the shutter speed may include increasing the shutterspeed in response to an increase in the vehicle speed; and the adjustingof the either one or both of the ISO and the aperture may includeperforming either one or both of an adjustment for increasing the ISOand an adjustment for opening the aperture.

The adjusting of the shutter speed may include adjusting the shutterspeed to be faster in response to the vehicle speed being an angularvehicle speed sensed when the vehicle is turning, than in response tothe vehicle speed not being the angular speed.

The adjusting of the shutter speed may include adjusting, in response toan initial image obtained from the image sensor including an object, theshutter speed based on a relative speed between the object and thevehicle.

The adjusting of the shutter speed may include increasing the shutterspeed in response to an increase in the relative speed between theobject and the vehicle.

The adjusting of the shutter speed may include adjusting, in response toan initial image obtained from the image sensor including an object, theshutter speed based on a type of the object.

The adjusting of the shutter speed may include adjusting the shutterspeed to be faster in response to the object being a neighboring vehiclethan in response to the object being a pedestrian or a stationary objectat a predetermined position.

The adjusting of the shutter speed may include: determining the type ofthe object, and adjusting the shutter speed to be faster in response tothe type of the object being a neighboring vehicle than in response tothe type of the object being a pedestrian or a stationary object.

The adjusting of the shutter speed may include adjusting the shutterspeed to be slower in response to the object being a stationary objectat a predetermined position than in response to the object being aneighboring vehicle or a pedestrian.

The adjusting of the shutter speed may include adjusting the shutterspeed based on the vehicle speed; and the adjusting of either one orboth of the ISO and the aperture comprises: determining a brightnessbased on light sensed by the image sensor at the adjusted shutter speed,and adjusting either one or both of the ISO and the aperture based onthe brightness.

The adjusting of either one or both of the ISO and the aperture based onthe brightness may include adjusting either one or both of the ISO andthe aperture so that the brightness is greater than a predeterminedthreshold.

The adjusting of either one or both of the ISO and the aperture based onthe brightness may include: adjusting the ISO based on the brightness,and adjusting the aperture in response to another brightness based onlight sensed by the image sensor at the adjusted ISO being less than apredetermined threshold.

The adjusting of the shutter speed of the image sensor based on thevehicle speed may include: estimating an amount of blur of initial imageobtained from the image sensor provided in the vehicle moving at thevehicle speed, and adjusting the shutter speed based on the estimatedamount of blur.

The adjusting of the shutter speed based on the vehicle speed mayinclude increasing the shutter speed in response to an increase in theestimated amount of blur.

The method of obtaining the image from an image sensor may furtherinclude: verifying whether the vehicle is stopped, wherein the obtainingof the vehicle speed, the adjusting, and the obtaining of the image areiteratively performed until the vehicle is stopped.

A non-transitory computer-readable storage medium may store instructionsthat, when executed by a processor, cause the processor to perform themethod of obtaining the image.

In another general aspect, there is provided an image obtainingapparatus for obtaining an image from an image sensor provided in avehicle, the image obtaining apparatus including: a processor; and amemory comprising at least one instruction executable by the processor,wherein, in response to the instruction being executed by the processor,the processor is configured to: obtain a vehicle speed of the vehicle,adjust a shutter speed of the image sensor, adjust either one or both ofan international organization for standardization sensitivity (ISO) ofthe image sensor and an aperture of the image sensor based on thevehicle speed, and obtain the image from the image sensor based on theadjusted shutter speed and the adjusted either one or both of the ISOand the aperture.

The processor may be configured to: increase the shutter speed inresponse to an increase in the speed, and perform either one or both ofan adjustment for increasing the ISO and an adjustment for opening theaperture.

The processor may be configured to: adjust the shutter speed based onthe vehicle speed, and adjust either one or both of the ISO and theaperture based on the adjusted shutter speed.

The processor may be configured to: adjust the shutter speed based onthe vehicle speed, determine a brightness based on light sensed by theimage sensor at the adjusted shutter speed, and adjust either one orboth of the ISO and the aperture based on the brightness.

The processor may be configured to adjust either one or both of the ISOand the aperture so that the brightness is greater than a predeterminedthreshold.

In another general aspect, there is provided a method of obtaining animage from an image sensor, the method including: determining a speed ofan object; adjusting a shutter speed of the image sensor based on thespeed; adjusting either one or both of a sensitivity of the image sensorand an aperture of the image sensor based on the adjusted shutter speed;and obtaining the image from the image sensor, wherein the image iscaptured by the image sensor at the adjusted shutter speed and at theadjusted either one or both of the sensitivity and the aperture.

The adjusting either one or both of the sensitivity and the aperturebased on the adjusted shutter speed may include either one or both of:increasing either one or both of the sensitivity and a size of theaperture in response to an increase in the shutter speed, and decreasingeither one or both of the sensitivity and a size of the aperture inresponse to a decrease in the shutter speed.

The object may be either one of the image sensor or an object includedin the image.

Other features and aspects will be apparent from the following detaileddescription, the drawings, and the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates an example of obtaining an image from an image sensorprovided in a vehicle.

FIG. 2 is a flowchart illustrating an example of a method of obtainingan image.

FIG. 3 is a flowchart illustrating another example of a method ofobtaining an image.

FIG. 4 is a flowchart illustrating an example of adjusting a shutterspeed.

FIGS. 5 and 6 illustrate examples of an image obtained from a drivingvehicle.

FIG. 7 illustrates an example of adjusting a shutter speed based on arelative velocity.

FIG. 8 illustrates an example of adjusting a shutter speed based on anobject.

FIG. 9 illustrates an example of a shutter speed, an internationalorganization for standardization (ISO), and an aperture.

FIG. 10 is a block diagram illustrating an example of an image obtainingapparatus.

Throughout the drawings and the detailed description, unless otherwisedescribed or provided, the same drawing reference numerals will beunderstood to refer to the same elements, features, and structures. Thedrawings may not be to scale, and the relative size, proportions, anddepiction of elements in the drawings may be exaggerated for clarity,illustration, and convenience.

DETAILED DESCRIPTION

The following detailed description is provided to assist the reader ingaining a comprehensive understanding of the methods, apparatuses,and/or systems described herein. However, various changes,modifications, and equivalents of the methods, apparatuses, and/orsystems described herein will be apparent after an understanding of thedisclosure of this application. For example, the sequences of operationsdescribed herein are merely examples, and are not limited to those setforth herein, but may be changed as will be apparent after anunderstanding of the disclosure of this application, with the exceptionof operations necessarily occurring in a certain order. Also,descriptions of features that are known in the art may be omitted forincreased clarity and conciseness.

The features described herein may be embodied in different forms, andare not to be construed as being limited to the examples describedherein. Rather, the examples described herein have been provided merelyto illustrate some of the many possible ways of implementing themethods, apparatuses, and/or systems described herein that will beapparent after an understanding of the disclosure of this application.

Throughout the specification, when an element, such as a layer, region,or substrate, is described as being “on,” “connected to,” or “coupledto” another element, it may be directly “on,” “connected to,” or“coupled to” the other element, or there may be one or more otherelements intervening therebetween. In contrast, when an element isdescribed as being “directly on,” “directly connected to,” or “directlycoupled to” another element, there can be no other elements interveningtherebetween.

As used herein, the term “and/or” includes any one and any combinationof any two or more of the associated listed items.

Although terms such as “first,” “second,” and “third” may be used hereinto describe various members, components, regions, layers, or sections,these members, components, regions, layers, or sections are not to belimited by these terms. Rather, these terms are only used to distinguishone member, component, region, layer, or section from another member,component, region, layer, or section. Thus, a first member, component,region, layer, or section referred to in examples described herein mayalso be referred to as a second member, component, region, layer, orsection without departing from the teachings of the examples.

The terminology used herein is for describing various examples only, andis not to be used to limit the disclosure. The articles “a,” “an,” and“the” are intended to include the plural forms as well, unless thecontext clearly indicates otherwise. The terms “comprises,” “includes,”and “has” specify the presence of stated features, numbers, operations,members, elements, and/or combinations thereof, but do not preclude thepresence or addition of one or more other features, numbers, operations,members, elements, and/or combinations thereof.

The features of the examples described herein may be combined in variousways as will be apparent after an understanding of the disclosure ofthis application. Further, although the examples described herein have avariety of configurations, other configurations are possible as will beapparent after an understanding of the disclosure of this application.

Unless otherwise defined, all terms, including technical and scientificterms, used herein have the same meaning as commonly understood after anunderstanding of the disclosure of this application. Terms, such asthose defined in commonly used dictionaries, are to be interpreted ashaving a meaning that is consistent with their meaning in the context ofthe relevant art, and are not to be interpreted in an idealized oroverly formal sense unless expressly so defined herein.

Also, in the description of embodiments, detailed description ofwell-known related structures or functions will be omitted when it isdeemed that such description will cause ambiguous interpretation of thepresent disclosure.

FIG. 1 illustrates an example of obtaining an image from an image sensorprovided in a vehicle.

FIG. 1 illustrates that an image sensor 110 is provided in a vehicle100.

The image sensor 110 may be included in the vehicle 100. For example,the image sensor 110 is fastened to a predetermined position, forexample, a windshield, a dashboard, and/or a rear-view mirror, of thevehicle 100, to photograph a front view of the vehicle 100. Imagesphotographed by the image sensor 110 may be stored as driving records.Here, the image sensor 110 may be a dashboard camera, a dash cam, or acar black box. The images may be used in an advanced driver assistsystem (ADAS) or an autonomous driving system. In another example, animage obtaining apparatus described herein may include the image sensor.

In response to the image sensor 110 photographing the front view of thevehicle 100, a shutter speed, an international organization forstandardization (ISO), and an aperture of the image sensor 110 may beadjusted.

The shutter speed is associated with an exposure time. For example, theshutter speed is the exposure time. The exposure time indicates a lengthof time when the image sensor 110 is exposed to light when taking aphotograph. For example, a shutter speed is expressed in terms of howlong the shutter is open, for example, 1/1000s, 1/500s, 1/250 s, 1/125s,1/60 s, 1/30s, 1/15s, ⅛s, ¼s, ½s, and 1s. That is, a number indicating ashutter speed decreases as the shutter speed increases.

The ISO indicates a sensitivity of the image sensor 110. For example, alight sensitivity of the image sensor 110 increases as the ISO increasessuch that an amount of light sensed by the image sensor 110 when takinga photograph may increase.

The aperture indicates a hole of the image sensor 110 through whichlight passes when taking a photograph. A size of the aperture may bedetermined based on a diameter D of the hole through which light passes,and may be expressed in D=f/N. Here, f denotes a focal length and Ndenotes an f-number. For example, a unit value of N is expressed inf/32, f/22, f/16, f/11, f/8, f/5.6, f/4, f/2.8, f/2, and f/1.4, and anaperture value indicates an f-number in general. Thus, the aperture isopened more as the aperture value decreases.

In response to an image being photographed by incorrectly adjusting theshutter speed, the ISO, and/or the aperture of the image sensor 110, thephotographed image may include a blur. The blur may occur when thevehicle 100 moves at a high velocity in a dark environment, but the blurmay be effectively removed by adjusting the shutter speed to be faster.However, an amount of time during which the image sensor 110 is exposedto light decreases in response to the shutter speed being adjusted to befaster, so that the image may be photographed with a low brightness.Either one or both of the ISO and the aperture of the image sensor 110may be adjusted such that the image may be prevented from being obtainedas a low-brightness image.

Hereinafter, description about a process of obtaining an image of anappropriate brightness without a blur by adjusting the shutter speed,either one or both of the ISO and the aperture of the image sensor 110based on vehicle information, for example, a velocity of a vehicle, isprovided below.

FIG. 2 is a flowchart illustrating an example of a method of obtainingan image.

FIG. 2 illustrates an example of the method of obtaining the imageperformed by a processor of an image obtaining apparatus.

In operation 210, the image obtaining apparatus obtains a speed and/or avelocity of a vehicle. For example, the image obtaining apparatusobtains a velocity of a driving vehicle from a velocity sensor or anacceleration sensor included in the vehicle. Moreover, the imageobtaining apparatus may include the velocity sensor and/or theacceleration sensor.

The image obtaining apparatus may obtain the velocity when the vehicleis driving straight, and obtain an angular velocity when the vehicle isturning right or left.

In operation 220, the image obtaining apparatus adjusts a shutter speedof an image sensor and either one or both of an internationalorganization for standardization (ISO) of the image sensor and anaperture of the image sensor based on the velocity. For example, theshutter speed is adjusted to be faster as the velocity of the vehicleincreases. Simultaneously, the image obtaining apparatus performs eitherone or both of an adjustment for increasing the ISO and an adjustmentfor opening the aperture. The image obtaining apparatus may prevent anoccurrence of blur by rapidly adjusting the shutter speed, and preventan image of a low-brightness by adjusting either one or both of the ISOand the aperture.

When the velocity is an angular velocity, the image obtaining apparatusmay adjust the shutter speed to be faster than when the velocity is notthe angular velocity. Related descriptions will be provided withreference to FIGS. 5 and 6.

In response to the image obtained from the image sensor including anobject, the image obtaining apparatus adjusts the shutter speed of theimage sensor based on a relative velocity between the object and thevehicle. For example, the image obtaining apparatus verifies whether theimage obtained from the image sensor includes the object, and adjuststhe shutter speed based on the relative velocity between the object andthe vehicle in response to the image including the object. The imageobtaining apparatus may adjust the shutter speed to be faster as therelative velocity increases.

In response to the image obtained from the image sensor including theobject, the image obtaining apparatus adjusts the shutter speed of theimage sensor based on a type of the object. Here, the type of object isassociated with a classification of an object that can be observed froma driving vehicle. For example, the type of object includes aneighboring vehicle, a pedestrian, and/or a stationary object. Thestationary object includes a traffic sign and/or a traffic light at apredetermined position.

In operation 230, the image obtaining apparatus obtains the image fromthe image sensor based on the adjusted shutter speed and/or the adjustedeither one or both of the ISO and the aperture. For example, the imageobtaining apparatus sets the image sensor based on the shutter speed andeither one or both of, the ISO and the aperture adjusted in operation220, and obtains the image from the image sensor.

In operation 240, the image obtaining apparatus verifies whether anadditional image is requested. For example, the image obtainingapparatus verifies that the additional image is not requested inresponse to the vehicle being stopped. The image obtaining apparatus mayverify that the vehicle is stopped in response to the vehicle not movingfor a predetermined period of time, an engine of the vehicle beingturned off, an advanced driver assist system (ADAS) or an autonomousdriving system of the vehicle being shut down, and/or a velocityobtained from the velocity sensor or the acceleration sensor being belowa predetermined threshold. In another example, even when the vehicle isstopped, the image obtaining apparatus verifies that the additionalimage is requested when a neighboring image, for example, a front viewimage, of the vehicle needs to be stored as a record or when a crash ora motion of a level greater than or equal to a predetermined level isdetected from a parked vehicle.

In response to a verification that the additional image is requested,the image obtaining apparatus performs operations 210 through 230 again.In response to the verification that the additional image being notrequested, the image obtaining apparatus may terminate an operation.

FIG. 3 is a flowchart illustrating another example of a method ofobtaining an image.

FIG. 3 illustrates another example of the method of obtaining the imageperformed by a processor of an image obtaining apparatus.

In operation 310, the image obtaining apparatus obtains a velocity of avehicle. For example, the image obtaining apparatus obtains the velocitywhen the vehicle is driving straight, and obtains an angular velocitywhen the vehicle is turning, from a velocity sensor of the vehicle.

In operation 320, the image obtaining apparatus adjusts a shutter speedof an image sensor based on the velocity. The image obtaining apparatusmay adjust the shutter speed to be faster as the velocity of the vehicleincreases. The image obtaining apparatus may adjust the shutter speed tobe faster than when the velocity is not the angular velocity.

In response to the image obtained from the image sensor including anobject, the image obtaining apparatus may adjust the shutter speed ofthe image sensor based on a relative velocity between the object and thevehicle. In response to the image obtained from the image sensorincluding the object, the image obtaining apparatus may adjust theshutter speed of the image sensor based on a type of the object.

In operation 330, the image obtaining apparatus verifies a brightness(e.g., a level of brightness) of the image to be obtained from the imagesensor based on the adjusted shutter speed. For example, the imageobtaining apparatus determines a brightness based on light sensed by theimage sensor while the shutter operates at the adjusted shutter speed.For example, when the shutter speed is adjusted without adjusting theISO and the aperture, an image of a low brightness is obtained from theimage sensor. Thus, the image obtaining apparatus may verify a degree ofdecrease in the brightness based on the shutter speed adjusted inoperation 320 and adjust either one or both of the ISO and the aperturebased on a result of verification in operation 340 and thus, thedecrease in brightness may be compensated for.

In operation 340, the image obtaining apparatus adjusts either one orboth of the ISO and the aperture of the image sensor based on thebrightness. For example, the image obtaining apparatus performs eitherone or both of an adjustment for increasing the ISO and an adjustmentfor opening the aperture based on an amount of change in the brightnessverified in operation 330.

The image obtaining apparatus may adjust either one or both of the ISOand the aperture of the image sensor to maintain the brightness atgreater than a predetermined threshold. Here, the predeterminedthreshold may be a brightness value required for processing the imageobtained from the image sensor in an advanced driver assist system(ADAS) or an autonomous driving system.

The image obtaining apparatus may priorly adjust the ISO of the imagesensor based on the brightness verified in operation 330, and adjust theaperture of the image sensor in response to the brightness being lessthan the predetermined threshold by the adjusted ISO. For example, inresponse to the ISO being adjusted, the image obtaining apparatus mayagain determine a brightness based on light sensed by the image sensorwhile the shutter operates at the adjusted ISO. In response to thebrightness being determined to be less than a predetermined threshold,the image obtaining apparatus may adjust the aperture in order toincrease the brightness to above the threshold. In response to thebrightness of the image obtained from the image sensor satisfying thepredetermined threshold based on the adjustment for increasing the ISOof the image sensor, the aperture of the image sensor may not beadditionally adjusted.

In operation 350, the image obtaining apparatus obtains the image fromthe image sensor based on the adjusted shutter speed and either one orboth of the ISO and the aperture. For example, the image obtainingapparatus sets the image sensor based on the shutter speed adjusted inoperation 320 and the either one or both of the ISO or the apertureadjusted in operation 340, and obtains the image from the image sensor.

In operation 360, the image obtaining apparatus verifies whether anadditional image is requested. In an example, the image obtainingapparatus verifies that the additional image is not requested inresponse to the vehicle being stopped. In another example, even when thevehicle is stopped, the image obtaining apparatus verifies that theadditional image is requested when a neighboring image, for example, afront view image, of the vehicle needs to be stored as a record or whena crash or a motion of a level greater than or equal to a predeterminedlevel is detected from a parked vehicle.

In response to a verification that the additional image is requested,the image obtaining apparatus performs operations 310 through 350 again.In response to the verification that the additional image being notrequested, the image obtaining apparatus may terminate an operation.

FIG. 4 is a flowchart illustrating an example of adjusting a shutterspeed.

Referring to FIG. 4, an image obtaining apparatus may adjust a shutterspeed by estimating an amount of blur based on a velocity instead ofdirectly adjusting the shutter speed based on a velocity of a vehicle asdescribed above.

In operation 410, the image obtaining apparatus estimates the amount ofblur of the image obtained from the image sensor of the vehicle movingat the velocity obtained in operation 310. Here, the amount of blur ofthe image obtained without adjusting the shutter speed of the imagesensor may be estimated.

In operation 420, the image obtaining apparatus adjusts the shutterspeed based on the estimated amount of blur. For example, the imageobtaining apparatus effectively prevent an occurrence of blur byadjusting the shutter speed to be faster as the amount of blur includedin the image increases.

FIGS. 5 and 6 illustrate examples of an image obtained from a drivingvehicle.

FIG. 5 illustrates images 510 and 520 that are sequentially obtainedfrom a vehicle driving straight. The images 510 and 520 may besequentially obtained from an image sensor when the vehicle enterscrossroads. When the vehicle is driving straight, a size of an objectincluded in the image 510 may increase in the image 520.

FIG. 6 illustrates images 610 and 620 that are sequentially obtainedfrom a vehicle that is turning right. The images 610 and 620 may besequentially obtained from the image sensor when the vehicle is turningright at the crossroads. When the vehicle is turning, objects includedin the image 610 may be moved to the left in the image 620.

An amount of blur in an image may increase more when the vehicle isturning than when the vehicle is moving straight, since when the vehicleis turning, an object in the image may move to a great extentrelatively. The blur may be effectively prevented by rapidly adjusting ashutter speed to be faster when the vehicle is turning than when thevehicle is moving straight.

When the vehicle is turning, an angular velocity may be sensed. Inresponse to the angular velocity being sensed, an image obtainingapparatus may recognize that the vehicle is turning, and adjust theshutter speed to be faster than when the angular velocity is not sensed.

FIG. 7 illustrates an example of adjusting a shutter speed based on arelative velocity.

FIG. 7 illustrates an image obtained from an image sensor, and the imageincludes an object 710.

The object 710 is included in the image obtained from the image sensor.An image obtaining apparatus may determine a relative velocity betweenthe object 710 and a vehicle by detecting a movement of the object 710,and adjust a shutter speed of the image sensor based on the determinedrelative velocity. The image obtaining apparatus may adjust the shutterspeed to be faster as the relative velocity increases.

For example, when the object 710 is a neighboring vehicle driving in anopposite direction, the relative velocity is determined based on a sumof a velocity of the object 710 and a velocity of the vehicle. When theobject 710 is a neighboring vehicle driving in a same direction, therelative velocity may be determined based on a difference between thevelocity of the object 710 and the velocity of the vehicle. Thus, arelative velocity of the vehicle and the neighboring vehicle driving inthe opposite direction may be greater than a relative velocity betweenthe vehicle and the neighboring vehicle driving in the same direction.The image obtaining apparatus may adjust the shutter speed to be fasterwhen the object 710 included in the image is the neighboring vehicledriving in the opposite direction than when the object 710 is theneighboring vehicle driving in the same direction.

To measure the relative velocity between the object 710 and the vehicle,an additional sensor may be used. For example, a radar sensor, a Lidarsensor, and/or an additional image sensor are used as an additionalsensor. The image obtaining apparatus may measure the relative velocitybetween the object 710 and the vehicle based on information output fromthe radar sensor and the Lidar sensor. In terms of the additional imagesensor, the image obtaining apparatus may measure the relative velocitybetween the object 710 and the vehicle using images obtained from twoimage sensors as a stereo image. In another example, the image obtainingapparatus may measure the relative velocity between the object 710 andthe vehicle based on a change in position of the object 710 detectedfrom a plurality of sequential images of the object 710.

FIG. 8 illustrates an example of adjusting a shutter speed based on anobject.

FIG. 8 illustrates an image obtained from an image sensor. The imageincludes a neighboring vehicle 810, a pedestrian 820, and a stationaryobject 830.

An image obtaining apparatus may verify whether the image obtained fromthe image sensor includes an object and adjust a shutter speed of theimage sensor based on a type of the object in response to the imageincluding the object. The type of object is associated with aclassification of object to be observed from a driving vehicle. Forexample, a type of object includes the neighboring vehicle 810, thepedestrian 820, and the stationary object 830. The stationary object 830includes, for example, a traffic sign and/or a traffic light at apredetermined position.

For example, a moving velocity of the neighboring vehicle 810 isgreatest among the neighboring vehicle 810, the pedestrian 820, and thestationary object 830. When the type of object included in the image isthe neighboring vehicle 810, the image obtaining apparatus may correct ablur by adjusting the shutter speed to be faster than when the object isthe pedestrian 820 or the stationary object 830. The stationary object830 is an object fixed at a predetermined position on a road. A movingvelocity of the stationary object 830 may be smallest among theneighboring vehicle 810, the pedestrian 820, and the stationary object830. Thus, when the type of object included in the image is thestationary object 830, the image obtaining apparatus may effectivelycorrect the blur by adjusting the shutter speed to be slower than whenthe object is the neighboring vehicle 810 or the pedestrian 820. Whenthe type of object included in the image is the pedestrian 820, theimage obtaining apparatus may adjust the shutter speed to be slower thanwhen the object is the neighboring vehicle 810, and adjust the shutterspeed to be faster than when the object is the stationary object 830.

In response to one image including any combination of any two or more ofthe neighboring vehicle 810, the pedestrian 820, and the stationaryobject 830, the image obtaining apparatus may determine a main objectamong the objects included in the image and adjust the shutter speed ofthe image sensor based on a type of the main object. For example, theimage obtaining apparatus may determine, as a main object, an object towhich the vehicle and/or a driver of the vehicle should be alerted ofmost, for example, an object moving at a highest velocity, an objectapproaching the vehicle, and an object closest to the vehicle, among theobjects included in the image.

The type of object may be determined by applying an image recognizingscheme to the image obtained from the image sensor. The type of objectmay be determined using an additional sensor, for example, a radarsensor, a Lidar sensor, and an additional image sensor.

FIG. 9 illustrates an example of a shutter speed, an internationalorganization for standardization (ISO), and an aperture.

FIG. 9 illustrates an example of a relationship between an aperture 910,a shutter speed 920, and an ISO 930.

The shutter speed 920 is associated with an exposure time. The exposuretime indicates a length of time when an image sensor is exposed to lightwhen taking a photograph. For example, a shutter speed is expressed in,for example, 1/1000s, 1/500s, 1/250 s, 1/125s, 1/60 s, 1/30s, 1/15s, ⅛s,¼s, and ½s. A number indicating the shutter speed 920 may decrease asthe shutter speed 920 is fast. In FIG. 9, the shutter speed 920 isfaster to the left in FIG. 9 such that an occurrence of blur isprevented, but a brightness of an image may decrease.

The aperture 910 indicates a hole of the image sensor through whichlight passes when taking a photograph. A size of the aperture 910 may bedetermined based on a diameter D of the hole through which light passes,and may be expressed in D=f/N, for example, f/32, f/22, f/16, f/11, f/8,f/5.6, f/4, f/2.8, f/2, and f/1.4. Here, f denotes a focal length and Ndenotes an f-number. As an aperture value indicates an f-number, theaperture is more opened as the aperture value decreases. The aperture910 is opened more as the aperture value decreases to the right in FIG.9 such that the brightness of the image may increase.

The ISO 930 indicates of a sensitivity of the image sensor. For example,a light sensitivity of the image sensor increases as the ISO 930increases such that an amount of light sensed by the image sensor whentaking a photograph may increase. The ISO 930 increases to the right inFIG. 9, and the brightness of the image may increase.

A velocity of the vehicle, and the relationship between the aperture910, the shutter speed 920, and the ISO 930 are expressed as shown inEquation 1.

$\begin{matrix}{\frac{I}{{SA}^{2}} \cong {f(v)}} & \lbrack {{Equation}\mspace{14mu} 1} \rbrack\end{matrix}$

In Equation 1, v denotes the velocity of the vehicle, I denotes the ISO930, S denotes the shutter speed 920, and A denotes the aperture value.

FIG. 10 is a block diagram illustrating an example of an image obtainingapparatus.

Referring to FIG. 10, an image obtaining apparatus 1000 includes amemory 1010, a processor 1020, and an image sensor 1030. The imagesensor 1030 further includes an additional sensor 1040. The memory 1010,the processor 1020, the image sensor 1030, and the additional sensor1040 communicate with each other via a bus 1050.

The memory 1010 includes a volatile memory and a non-volatile memory,and stores information received via the bus 1050. The memory 1010includes at least one instruction to be executable by the processor1020. The memory 1010 may store the above-described feature parameter.

The processor 1020 may execute programs or instructions stored in thememory 1010. The processor 1020 obtains a velocity of a vehicle, adjustsa shutter speed and either one or both of an international organizationfor standardization (ISO) and an aperture of the image sensor 1030 basedon the velocity, and obtains an image from the image sensor 1030 basedon the adjusted shutter speed and the adjusted either one or both of theISO and the aperture.

The image sensor 1030 may be attached to a predetermined position of thevehicle to photograph a neighboring image, for example, a front viewimage, of the vehicle. The image sensor 1030 may photograph the imagebased on the shutter speed and the either one or both of the ISO and theaperture adjusted by the processor 1020.

The additional sensor 1040 includes any one or any combination of anytwo or more of a velocity sensor, an acceleration sensor, and an angularvelocity sensor. The velocity sensor, the acceleration sensor, and theangular velocity sensor may measure a velocity and an angular velocityof the vehicle. The additional sensor 1040 includes any one or anycombination of any two or more of a radar sensor, a Lidar sensor, and anadditional image sensor. The radar sensor, the Lidar sensor, theadditional image sensor may sense a relative velocity between thevehicle and an object included in the image or verify a type of theobject.

Repeated descriptions will be omitted for increased clarity andconciseness because the descriptions provided above are also applicableto the image obtaining apparatus 1000.

The battery image sensor, the shutter, the image obtaining apparatus,the acceleration sensor, the angular velocity sensor, the memory 1010,the processor 1020, the image sensor 1030, the additional sensor 1040,and the bus 1050 in FIGS. 1-10 that perform the operations described inthis application are implemented by hardware components configured toperform the operations described in this application that are performedby the hardware components. Examples of hardware components that may beused to perform the operations described in this application whereappropriate include controllers, sensors, generators, drivers, memories,comparators, arithmetic logic units, adders, subtractors, multipliers,dividers, integrators, and any other electronic components configured toperform the operations described in this application. In other examples,one or more of the hardware components that perform the operationsdescribed in this application are implemented by computing hardware, forexample, by one or more processors or computers. A processor or computermay be implemented by one or more processing elements, such as an arrayof logic gates, a controller and an arithmetic logic unit, a digitalsignal processor, a microcomputer, a programmable logic controller, afield-programmable gate array, a programmable logic array, amicroprocessor, or any other device or combination of devices that isconfigured to respond to and execute instructions in a defined manner toachieve a desired result. In one example, a processor or computerincludes, or is connected to, one or more memories storing instructionsor software that are executed by the processor or computer. Hardwarecomponents implemented by a processor or computer may executeinstructions or software, such as an operating system (OS) and one ormore software applications that run on the OS, to perform the operationsdescribed in this application. The hardware components may also access,manipulate, process, create, and store data in response to execution ofthe instructions or software. For simplicity, the singular term“processor” or “computer” may be used in the description of the examplesdescribed in this application, but in other examples multiple processorsor computers may be used, or a processor or computer may includemultiple processing elements, or multiple types of processing elements,or both. For example, a single hardware component or two or morehardware components may be implemented by a single processor, or two ormore processors, or a processor and a controller. One or more hardwarecomponents may be implemented by one or more processors, or a processorand a controller, and one or more other hardware components may beimplemented by one or more other processors, or another processor andanother controller. One or more processors, or a processor and acontroller, may implement a single hardware component, or two or morehardware components. A hardware component may have any one or more ofdifferent processing configurations, examples of which include a singleprocessor, independent processors, parallel processors,single-instruction single-data (SISD) multiprocessing,single-instruction multiple-data (SIMD) multiprocessing,multiple-instruction single-data (MISD) multiprocessing, andmultiple-instruction multiple-data (MIMD) multiprocessing.

The methods illustrated in FIGS. 1-10 that perform the operationsdescribed in this application are performed by computing hardware, forexample, by one or more processors or computers, implemented asdescribed above executing instructions or software to perform theoperations described in this application that are performed by themethods. For example, a single operation or two or more operations maybe performed by a single processor, or two or more processors, or aprocessor and a controller. One or more operations may be performed byone or more processors, or a processor and a controller, and one or moreother operations may be performed by one or more other processors, oranother processor and another controller. One or more processors, or aprocessor and a controller, may perform a single operation, or two ormore operations.

Instructions or software to control computing hardware, for example, oneor more processors or computers, to implement the hardware componentsand perform the methods as described above may be written as computerprograms, code segments, instructions or any combination thereof, forindividually or collectively instructing or configuring the one or moreprocessors or computers to operate as a machine or special-purposecomputer to perform the operations that are performed by the hardwarecomponents and the methods as described above. In one example, theinstructions or software include machine code that is directly executedby the one or more processors or computers, such as machine codeproduced by a compiler. In another example, the instructions or softwareincludes higher-level code that is executed by the one or moreprocessors or computer using an interpreter. The instructions orsoftware may be written using any programming language based on theblock diagrams and the flow charts illustrated in the drawings and thecorresponding descriptions in the specification, which disclosealgorithms for performing the operations that are performed by thehardware components and the methods as described above.

The instructions or software to control computing hardware, for example,one or more processors or computers, to implement the hardwarecomponents and perform the methods as described above, and anyassociated data, data files, and data structures, may be recorded,stored, or fixed in or on one or more non-transitory computer-readablestorage media. Examples of a non-transitory computer-readable storagemedium include read-only memory (ROM), random-access memory (RAM), flashmemory, CD-ROMs, CD-Rs, CD+Rs, CD-RWs, CD+RWs, DVD-ROMs, DVD-Rs, DVD+Rs,DVD-RWs, DVD+RWs, DVD-RAMs, BD-ROMs, BD-Rs, BD-R LTHs, BD-REs, magnetictapes, floppy disks, magneto-optical data storage devices, optical datastorage devices, hard disks, solid-state disks, and any other devicethat is configured to store the instructions or software and anyassociated data, data files, and data structures in a non-transitorymanner and provide the instructions or software and any associated data,data files, and data structures to one or more processors or computersso that the one or more processors or computers can execute theinstructions. In one example, the instructions or software and anyassociated data, data files, and data structures are distributed overnetwork-coupled computer systems so that the instructions and softwareand any associated data, data files, and data structures are stored,accessed, and executed in a distributed fashion by the one or moreprocessors or computers.

While this disclosure includes specific examples, it will be apparentafter an understanding of the disclosure of this application thatvarious changes in form and details may be made in these exampleswithout departing from the spirit and scope of the claims and theirequivalents. The examples described herein are to be considered in adescriptive sense only, and not for purposes of limitation. Descriptionsof features or aspects in each example are to be considered as beingapplicable to similar features or aspects in other examples. Suitableresults may be achieved if the described techniques are performed in adifferent order, and/or if components in a described system,architecture, device, or circuit are combined in a different manner,and/or replaced or supplemented by other components or theirequivalents. Therefore, the scope of the disclosure is defined not bythe detailed description, but by the claims and their equivalents, andall variations within the scope of the claims and their equivalents areto be construed as being included in the disclosure.

What is claimed is:
 1. A method of obtaining an image from an imagesensor provided in a vehicle, the method comprising: obtaining a vehiclespeed of the vehicle; adjusting a shutter speed of the image sensor;adjusting either one or both of an international organization forstandardization sensitivity (ISO) of the image sensor and an aperture ofthe image sensor based on the vehicle speed; and obtaining the imagefrom the image sensor based on the adjusted shutter speed and theadjusted either one or both of the ISO and the aperture.
 2. The methodof claim 1, wherein: the adjusting of the shutter speed comprisesincreasing the shutter speed in response to an increase in the vehiclespeed; and the adjusting of the either one or both of the ISO and theaperture comprises performing either one or both of an adjustment forincreasing the ISO and an adjustment for opening the aperture.
 3. Themethod of claim 1, wherein the adjusting of the shutter speed comprisesadjusting the shutter speed to be faster in response to the vehiclespeed being an angular vehicle speed sensed when the vehicle is turning,than in response to the vehicle speed not being the angular speed. 4.The method of claim 1, wherein the adjusting of the shutter speedcomprises adjusting, in response to an initial image obtained from theimage sensor including an object, the shutter speed based on a relativespeed between the object and the vehicle.
 5. The method of claim 4,wherein the adjusting of the shutter speed comprises increasing theshutter speed in response to an increase in the relative speed betweenthe object and the vehicle.
 6. The method of claim 1, wherein theadjusting of the shutter speed comprises adjusting, in response to aninitial image obtained from the image sensor including an object, theshutter speed based on a type of the object.
 7. The method of claim 6,wherein the adjusting of the shutter speed comprises adjusting theshutter speed to be faster in response to the object being a neighboringvehicle than in response to the object being a pedestrian or astationary object at a predetermined position.
 8. The method of claim 6,wherein the adjusting of the shutter speed comprises: determining thetype of the object, and adjusting the shutter speed to be faster inresponse to the type of the object being a neighboring vehicle than inresponse to the type of the object being a pedestrian or a stationaryobject.
 9. The method of claim 6, wherein the adjusting of the shutterspeed comprises adjusting the shutter speed to be slower in response tothe object being a stationary object at a predetermined position than inresponse to the object being a neighboring vehicle or a pedestrian. 10.The method of claim 1, wherein: the adjusting of the shutter speedcomprises adjusting the shutter speed based on the vehicle speed; andthe adjusting of either one or both of the ISO and the aperturecomprises: determining a brightness based on light sensed by the imagesensor at the adjusted shutter speed, and adjusting either one or bothof the ISO and the aperture based on the brightness.
 11. The method ofclaim 10, wherein the adjusting of either one or both of the ISO and theaperture based on the brightness comprises adjusting either one or bothof the ISO and the aperture so that the brightness is greater than apredetermined threshold.
 12. The method of claim 10, wherein theadjusting of either one or both of the ISO and the aperture based on thebrightness comprises: adjusting the ISO based on the brightness, andadjusting the aperture in response to another brightness based on lightsensed by the image sensor at the adjusted ISO being less than apredetermined threshold.
 13. The method of claim 10, wherein theadjusting of the shutter speed of the image sensor based on the vehiclespeed comprises: estimating an amount of blur of initial image obtainedfrom the image sensor provided in the vehicle moving at the vehiclespeed, and adjusting the shutter speed based on the estimated amount ofblur.
 14. The method of claim 13, wherein the adjusting of the shutterspeed based on the vehicle speed comprises increasing the shutter speedin response to an increase in the estimated amount of blur.
 15. Themethod of claim 1, further comprising: verifying whether the vehicle isstopped, wherein the obtaining of the vehicle speed, the adjusting, andthe obtaining of the image are iteratively performed until the vehicleis stopped.
 16. A non-transitory computer-readable storage mediumstoring instructions that, when executed by a processor, cause theprocessor to perform the method of claim
 1. 17. An image obtainingapparatus for obtaining an image from an image sensor provided in avehicle, the image obtaining apparatus comprising: a processor; and amemory comprising at least one instruction executable by the processor,wherein, in response to the instruction being executed by the processor,the processor is configured to: obtain a vehicle speed of the vehicle,adjust a shutter speed of the image sensor, adjust either one or both ofan international organization for standardization sensitivity (ISO) ofthe image sensor and an aperture of the image sensor based on thevehicle speed, and obtain the image from the image sensor based on theadjusted shutter speed and the adjusted either one or both of the ISOand the aperture.
 18. The image obtaining apparatus of claim 17, whereinthe processor is configured to: increase the shutter speed in responseto an increase in the speed, and perform either one or both of anadjustment for increasing the ISO and an adjustment for opening theaperture.
 19. The image obtaining apparatus of claim 17, wherein theprocessor is configured to: adjust the shutter speed based on thevehicle speed, and adjust either one or both of the ISO and the aperturebased on the adjusted shutter speed.
 20. The method of claim 17, whereinthe processor is configured to: adjust the shutter speed based on thevehicle speed, determine a brightness based on light sensed by the imagesensor at the adjusted shutter speed, and adjust either one or both ofthe ISO and the aperture based on the brightness.
 21. The method ofclaim 20, wherein the processor is configured to adjust either one orboth of the ISO and the aperture so that the brightness is greater thana predetermined threshold.
 22. A method of obtaining an image from animage sensor, the method comprising: determining a speed of an object;adjusting a shutter speed of the image sensor based on the speed;adjusting either one or both of a sensitivity of the image sensor and anaperture of the image sensor based on the adjusted shutter speed; andobtaining the image from the image sensor, wherein the image is capturedby the image sensor at the adjusted shutter speed and at the adjustedeither one or both of the sensitivity and the aperture.
 23. The methodof claim 22, wherein the adjusting either one or both of the sensitivityand the aperture based on the adjusted shutter speed comprises eitherone or both of: increasing either one or both of the sensitivity and asize of the aperture in response to an increase in the shutter speed,and decreasing either one or both of the sensitivity and a size of theaperture in response to a decrease in the shutter speed.
 24. The methodof claim 22, wherein the object is either one of the image sensor or anobject included in the image.